#include "ModbusHelp.h"

#include <QDebug>

////////////////////////////raw modbus help////////////////////////////////
/* CRC hsb */
const unsigned char auchCRCHi[] = { 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x00, 0xC1, 0x81, 0x40,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40, 0x01, 0xC0, 0x80, 0x41,
                                    0x01, 0xC0, 0x80, 0x41, 0x00, 0xC1, 0x81, 0x40 };
/* CRC lsb*/
const unsigned char auchCRCLo[] = { 0x00, 0xC0, 0xC1, 0x01, 0xC3, 0x03, 0x02, 0xC2,
                                    0xC6, 0x06, 0x07, 0xC7, 0x05, 0xC5, 0xC4, 0x04, 0xCC, 0x0C, 0x0D, 0xCD,
                                    0x0F, 0xCF, 0xCE, 0x0E, 0x0A, 0xCA, 0xCB, 0x0B, 0xC9, 0x09, 0x08, 0xC8,
                                    0xD8, 0x18, 0x19, 0xD9, 0x1B, 0xDB, 0xDA, 0x1A, 0x1E, 0xDE, 0xDF, 0x1F,
                                    0xDD, 0x1D, 0x1C, 0xDC, 0x14, 0xD4, 0xD5, 0x15, 0xD7, 0x17, 0x16, 0xD6,
                                    0xD2, 0x12, 0x13, 0xD3, 0x11, 0xD1, 0xD0, 0x10, 0xF0, 0x30, 0x31, 0xF1,
                                    0x33, 0xF3, 0xF2, 0x32, 0x36, 0xF6, 0xF7, 0x37, 0xF5, 0x35, 0x34, 0xF4,
                                    0x3C, 0xFC, 0xFD, 0x3D, 0xFF, 0x3F, 0x3E, 0xFE, 0xFA, 0x3A, 0x3B, 0xFB,
                                    0x39, 0xF9, 0xF8, 0x38, 0x28, 0xE8, 0xE9, 0x29, 0xEB, 0x2B, 0x2A, 0xEA,
                                    0xEE, 0x2E, 0x2F, 0xEF, 0x2D, 0xED, 0xEC, 0x2C, 0xE4, 0x24, 0x25, 0xE5,
                                    0x27, 0xE7, 0xE6, 0x26, 0x22, 0xE2, 0xE3, 0x23, 0xE1, 0x21, 0x20, 0xE0,
                                    0xA0, 0x60, 0x61, 0xA1, 0x63, 0xA3, 0xA2, 0x62, 0x66, 0xA6, 0xA7, 0x67,
                                    0xA5, 0x65, 0x64, 0xA4, 0x6C, 0xAC, 0xAD, 0x6D, 0xAF, 0x6F, 0x6E, 0xAE,
                                    0xAA, 0x6A, 0x6B, 0xAB, 0x69, 0xA9, 0xA8, 0x68, 0x78, 0xB8, 0xB9, 0x79,
                                    0xBB, 0x7B, 0x7A, 0xBA, 0xBE, 0x7E, 0x7F, 0xBF, 0x7D, 0xBD, 0xBC, 0x7C,
                                    0xB4, 0x74, 0x75, 0xB5, 0x77, 0xB7, 0xB6, 0x76, 0x72, 0xB2, 0xB3, 0x73,
                                    0xB1, 0x71, 0x70, 0xB0, 0x50, 0x90, 0x91, 0x51, 0x93, 0x53, 0x52, 0x92,
                                    0x96, 0x56, 0x57, 0x97, 0x55, 0x95, 0x94, 0x54, 0x9C, 0x5C, 0x5D, 0x9D,
                                    0x5F, 0x9F, 0x9E, 0x5E, 0x5A, 0x9A, 0x9B, 0x5B, 0x99, 0x59, 0x58, 0x98,
                                    0x88, 0x48, 0x49, 0x89, 0x4B, 0x8B, 0x8A, 0x4A, 0x4E, 0x8E, 0x8F, 0x4F,
                                    0x8D, 0x4D, 0x4C, 0x8C, 0x44, 0x84, 0x85, 0x45, 0x87, 0x47, 0x46, 0x86,
                                    0x82, 0x42, 0x43, 0x83, 0x41, 0x81, 0x80, 0x40 };

unsigned short crc16(unsigned char *puchMsg, unsigned short usDataLen)
{
    unsigned char uchCRCHi = 0xFF;
    unsigned char uchCRCLo = 0xFF;
    unsigned int uIndex;
    while (usDataLen--)
    {
        uIndex = uchCRCHi ^ *puchMsg++;
        uchCRCHi = uchCRCLo ^ auchCRCHi[uIndex];
        uchCRCLo = auchCRCLo[uIndex];
    }
    return static_cast<unsigned short>(static_cast<unsigned short>(uchCRCHi) << 8 | uchCRCLo);
}

int generateWriteRegsPDU(unsigned char *buf, unsigned char slaveId, unsigned short addr, unsigned short *reg, unsigned short regCount)
{
    unsigned int index;
    buf[0]=slaveId;
    buf[1]=0x10;
    buf[2]=addr>>8;
    buf[3]=addr & 0x00ff;
    buf[4]=regCount>>8;
    buf[5]=regCount & 0x00ff;
    buf[6]=static_cast<unsigned char>(regCount*2);
    index=7;
    for (int i = 0; i < regCount; ++i) {
        buf[index++]=reg[i]>>8;
        buf[index++]=reg[i] & 0x00ff;
    }
    unsigned short crc=crc16(buf,static_cast<unsigned short>(index));
    buf[index++]=crc>>8;
    buf[index++]=crc & 0x00ff;
    return static_cast<int>(index);
}

int generateReadRegsPDU(unsigned char *buf, unsigned char slaveId, unsigned short addr, unsigned short regCount)
{
    unsigned int index;
    buf[0]=slaveId;
    buf[1]=0x03;
    buf[2]=addr>>8;
    buf[3]=addr & 0x00ff;
    buf[4]=regCount>>8;
    buf[5]=regCount & 0x00ff;

    index=6;
    unsigned short crc=crc16(buf,static_cast<unsigned short>(index));
    buf[index++]=crc>>8;
    buf[index++]=crc & 0x00ff;
    return static_cast<int>(index);
}

bool decodeReadRegsResponse(unsigned char *sendBuf, int sendlen, unsigned char *receiveBuf, int receivelen, unsigned short *reg)
{
    bool isVaild=true;
    if(receivelen<7 || sendlen<8) return false;
    for (int i = 0; i < 2; ++i) {
        isVaild=isVaild && (sendBuf[i]==receiveBuf[i]);
        if(!isVaild) return false;
    }

    int index=receiveBuf[2];
    index+=3;
    unsigned short crc=crc16(receiveBuf,static_cast<unsigned short>(index));
    isVaild=isVaild && (receiveBuf[index]==(crc>>8));
    isVaild=isVaild && (receiveBuf[index+1]==(crc & 0x00ff));
    if(!isVaild) return false;

    int cnt=receiveBuf[2];
    index=3;
    cnt/=2;
    for (int i = 0; i < cnt; ++i) {
        reg[i]=static_cast<unsigned short>(receiveBuf[index]<<8);
        index++;
        reg[i]|=receiveBuf[index];
        index++;
    }

    return isVaild;
}
//////////////////////////////////////////////////////////////////////////

ModbusHelp::ModbusHelp(QObject *parent) : QObject(parent)
{
    opsIsOK=false;

    m_thread=new QThread();
    m_modbus=nullptr;

    m_modbus_port="COM1";
    m_modbus_baudrate=19200;
    m_modbus_slaveID=1;

    this->moveToThread(m_thread);

    connect(m_thread,SIGNAL(started()),
            this,SLOT(onThreadStarted()),
            Qt::DirectConnection
            );

    connect(m_thread,SIGNAL(finished()),
            this,SLOT(onThreadFinish()),
            Qt::DirectConnection
            );

    m_thread->start();
}

ModbusHelp::~ModbusHelp()
{
    if(m_thread){
        m_thread->exit();
        if(!m_thread->wait(5000)){
            m_thread->terminate();
        }
        delete m_thread;
    }
}

///
/// \brief setModbusMisc
/// \param name
/// \param baudrate
/// \param slaveId
///设置 modbus 通信参数
void ModbusHelp::setModbusMisc(const QString &name, int baudrate, int slaveId)
{
    m_modbus_port=name;
    m_modbus_baudrate=baudrate;
    m_modbus_slaveID=slaveId;
}

///
/// \brief sendDataToHoldRegs
/// \param addr
/// \param data
/// \param scale
/// \return
///将 data 数据乘以scale 转换为无符号16进制数据 发送addr地址开始的保持寄存器里 成功返回true
/// dataptr是 QVector<double>指针 在本函数内进行释放
void ModbusHelp::sendDataToHoldRegs(quint16 addr, void* dataptr, double scale)
{
    if(!dataptr) return;
    QVector<double> *data = reinterpret_cast<QVector<double>*>(dataptr);

    opsIsOK=false;
    cancelOps=false;
    if(data->count()<2 || !m_modbus){
        emit operatePercent(100);
        delete data;
        return;
    }
    m_modbus->disconnectDevice();

    //创建串口
    QSerialPort serialport;
    serialport.setPortName(m_modbus_port);
    serialport.setBaudRate(m_modbus_baudrate);
    serialport.setDataBits(QSerialPort::Data8);
    serialport.setStopBits(QSerialPort::OneStop);
    serialport.setParity(QSerialPort::EvenParity);
    serialport.setFlowControl(QSerialPort::NoFlowControl);

    //打开串口
    if (!serialport.open(QIODevice::ReadWrite)) {
        qDebug()<<"open serial port failed.";
        //        m_modbus->disconnectDevice();
        emit operatePercent(100);
        delete data;
        return;
    }

    emit operatePercent(0);

    int eachaddr=addr;
    int totallen=data->count();
    const quint16 everstep=32;
    quint16 currentstep=everstep;
    int loop=totallen/everstep + 1*(totallen%everstep);
    int sendedcnt=0;    //已经发送的数量
    bool readbackok=true;   //回读校验正确
    unsigned char sendbuf[256]; //发送缓冲区
    unsigned char recvbuf[256]; //接收缓冲区
    unsigned short regs[100];

    if(totallen<everstep) currentstep=static_cast<quint16>(totallen);

    serialport.flush();
    serialport.waitForBytesWritten(200);
    serialport.waitForReadyRead(200);
    serialport.readAll();

    for (int i = 0; i < loop; ++i) {    //分批写入数据到modbus holding reg
        if(cancelOps) break;

        for (int j = 0; j < currentstep; ++j) { //加载要发送的数据
            regs[j] = static_cast<quint16>((*data)[sendedcnt+j]*scale);
        }

        //生成写Regs pdu
        int sendcnt = generateWriteRegsPDU(sendbuf,
                                           static_cast<unsigned char>(m_modbus_slaveID),
                                           static_cast<unsigned short>(eachaddr),
                                           regs,currentstep);

        serialport.write(reinterpret_cast<char*>(sendbuf),sendcnt);
        serialport.flush();

        //接收写Regs pdu 回复
        int recvcnt = 0;
        serialport.waitForReadyRead(200);
        while (1) {
            qint64 cnt = serialport.read(reinterpret_cast<char*>(recvbuf + recvcnt),256);
            if(cnt>0){
                recvcnt += cnt;
                if(recvcnt>=256){
                    recvcnt=256;
                    break;
                }
            }else{
                if(!serialport.waitForReadyRead(50)) break;
            }
        }

        //分析写Regs pdu 回复
        if(recvcnt<5){
            qDebug()<<"Write regs response time out.";
            emit operatePercent(100);
            delete data;
            return;
        }

        unsigned short crc = crc16(recvbuf,static_cast<unsigned short>(recvcnt-2));
        crc = static_cast<unsigned short>((crc>>8)|((crc&0x0ff)<<8));
        if(crc !=  *reinterpret_cast<unsigned short*>(recvbuf+recvcnt-2)){
            qDebug()<<"Write regs response crc error.";
            emit operatePercent(100);
            delete data;
            return;
        }

        for (int j = 0; j < 6; ++j) {
            if(sendbuf[j] != recvbuf[j]){
                qDebug()<<"Write regs response error.";
                emit operatePercent(100);
                delete data;
                return;
            }
        }

        if(readbackok){ //进行读回比较校验
            if(i==(loop-1)){    //最后一次写操作 mcu要进行flash写入  所以进行一定的延时
                QThread::msleep(3000);
            }

            //生成读Regs pdu
            sendcnt = generateReadRegsPDU(sendbuf,
                                          static_cast<unsigned char>(m_modbus_slaveID),
                                          static_cast<unsigned short>(eachaddr),
                                          currentstep);

            serialport.write(reinterpret_cast<char*>(sendbuf),sendcnt);
            serialport.flush();

            //接收读Regs pdu 回复
            recvcnt = 0;
            serialport.waitForReadyRead(200);
            while (1) {
                qint64 cnt = serialport.read(reinterpret_cast<char*>(recvbuf + recvcnt),256);
                if(cnt>0){
                    recvcnt += cnt;
                    if(recvcnt>=256){
                        recvcnt=256;
                        break;
                    }
                }else{
                    if(!serialport.waitForReadyRead(50)) break;
                }
            }
            //分析读Regs pdu 回复
            unsigned short recvregs[100];
            if(!decodeReadRegsResponse(sendbuf,sendcnt,recvbuf,recvcnt,recvregs)){
                qDebug()<<"Read regs response error.";
                readbackok=false;
            }else{
                for (int j = 0; j < currentstep; ++j) { //检查读回的数据是否与写入一致
                    bool equal = regs[j] == recvregs[j];
                    readbackok = readbackok && equal;
                    if(!equal) break;
                }
            }
        }

        eachaddr+=currentstep;
        sendedcnt+=currentstep;
        emit operatePercent(sendedcnt*99/totallen);
        if(i==(loop-2)  && totallen%everstep){
            currentstep=totallen%everstep;
        }else{
            currentstep=everstep;
        }
    }

    m_modbus->disconnectDevice();
    opsIsOK=true;

    if(!readbackok){
        emit operateVerifyFailed();
    }

    emit operatePercent(100);
    delete data;
    return;
}

///
/// \brief readHoldRegsToCSV
/// \param filename
/// \param addr
/// \param len
///读取modbus一批保持寄存器 保存到filename CSV文件
void ModbusHelp::readHoldRegsToCSV(const QString &filename, quint16 addr, int len)
{
    opsIsOK=false;
    cancelOps=false;
    if(len<1 || !m_modbus){
        emit operatePercent(100);
        return;
    }
    m_modbus->disconnectDevice();

    QFile file(filename);
    file.open(QIODevice::WriteOnly|QIODevice::Text);

    if(filename.isEmpty() || filename.isNull()||!file.isOpen()||len<1)
    {
        if(file.isOpen()) file.close();
        emit operatePercent(100);
        return;
    }

    //设置参数
    m_modbus->setConnectionParameter(QModbusDevice::SerialPortNameParameter,
                                     m_modbus_port);
    m_modbus->setConnectionParameter(QModbusDevice::SerialParityParameter,
                                     QSerialPort::EvenParity);
    m_modbus->setConnectionParameter(QModbusDevice::SerialBaudRateParameter,
                                     m_modbus_baudrate);
    m_modbus->setConnectionParameter(QModbusDevice::SerialDataBitsParameter,
                                     QSerialPort::Data8);
    m_modbus->setConnectionParameter(QModbusDevice::SerialStopBitsParameter,
                                     QSerialPort::OneStop);
    m_modbus->setTimeout(100);
    m_modbus->setNumberOfRetries(3);

    //打开modbus
    m_modbus->connectDevice();

    if (m_modbus->state() != QModbusDevice::ConnectedState) {
        qDebug()<<"modbus connect failed.";
        m_modbus->disconnectDevice();
        file.close();
        emit operatePercent(100);
        return;
    }

    emit operatePercent(0);

    //读取数据
    QEventLoop eventloop;
    int eachaddr=addr;
    const quint16 everstep=32;
    quint16 currentstep=everstep;
    int loop=len/everstep + 1*(len%everstep);
    int readedcnt=0;    //已经读回的数量
    QVector<quint16> regsReaded;

    if(len<everstep) currentstep=static_cast<quint16>(len);

    for (int i = 0; i < loop; ++i) {    //分批读取modbus holding reg
        if(cancelOps) break;
        QModbusDataUnit dataunit(QModbusDataUnit::HoldingRegisters,eachaddr,currentstep);
        QModbusReply *reply = m_modbus->sendReadRequest(dataunit,m_modbus_slaveID);
        while (!reply->isFinished()) {
            eventloop.processEvents();
        }
        if(reply->error() != QModbusDevice::NoError) {
            qDebug()<<reply->errorString();
            delete reply;
            m_modbus->disconnectDevice();
            file.close();
            emit operatePercent(100);
            return;
        }else{
            QModbusDataUnit read=reply->result();
            uint cnt=read.valueCount();
            for (uint j = 0; j < cnt; ++j) {
                regsReaded.append(read.value(static_cast<int>(j)));
            }
        }
        delete reply;

        eachaddr+=currentstep;
        readedcnt+=currentstep;
        emit operatePercent(readedcnt*99/len);
        if(i==(loop-2)  && len%everstep){
            currentstep=len%everstep;
        }else{
            currentstep=everstep;
        }
    }

    // 写入文件
    QTextStream out(&file);
    loop=regsReaded.count()/2;
    for (int i = 0; i < loop; ++i) {
        out<<regsReaded[i]<<", ";
        out<<regsReaded[i+loop]<<", \n";
    }

    file.flush();
    file.close();

    m_modbus->disconnectDevice();
    opsIsOK=true;
    emit operatePercent(100);
}

///
/// \brief onThreadStarted
///modbus 访问线程启动
void ModbusHelp::onThreadStarted()
{
    m_modbus=new QModbusRtuSerialMaster();
}


///
/// \brief onThreadFinish
///modbus 访问线程结束
void ModbusHelp::onThreadFinish()
{
    if(m_modbus){
        delete m_modbus;
        m_modbus=nullptr;
    }
    m_thread->deleteLater();
    m_thread=nullptr;
}
